/// <summary>
/// Initializes a new instance of the <see cref="RigidBody{TShapeFigure}"/> class.
/// TODO:
/// * Make this class generic, i.e. unaware of the specific shape. It shall take
/// the shape as an argument on construction.
/// * Move all shape-dependent code to the shape class/interface, such as inertia
/// calculation (would take the mass as input).
/// * Perhaps create an internal shape interface.
/// * The <see cref="IBody{TShape}"/> shall only know one shape, as opposed to
/// "original" and "current". The shape shall be able to "update" (transform) itself,
/// taking position and orientation as input. The shape then provides the "original"
/// and "current" representation of itself. This way, it can be guaranteed that the
/// actual transformation is only performed once per step and body/shape.
/// </summary>
public RigidBody(
IBodyCalculationHelper bodyCalculationHelper,
IIsaacNewtonHelper isaacNewtonHelper,
double mass,
IRigidShape <TShapeFigure> shape,
BodyState initialBodyState)
{
ArgumentChecks.AssertNotNull(bodyCalculationHelper, nameof(bodyCalculationHelper));
ArgumentChecks.AssertNotNull(isaacNewtonHelper, nameof(isaacNewtonHelper));
ArgumentChecks.AssertIsStrictPositive(mass, nameof(mass));
ArgumentChecks.AssertNotNull(shape, nameof(shape));
// Helpers
this._bodyCalculationHelper = bodyCalculationHelper;
this._isaacNewtonHelper = isaacNewtonHelper;
// Static properties
this.Mass = mass;
this._shape = shape;
this.Inertia = this._shape.CalculateInertia(this.Mass);
// Dynamic properties
this._appliedForce = new Vector2();
this._appliedTorque = 0;
this._appliedAcceleration = new Vector2();
this._appliedAngularAcceleration = 0;
this._overrideVelocity = null;
this._state = initialBodyState;
// Update the shape, based on the initial state
this._shape.Update(this._state.Position, this._state.Orientation);
}
/// <summary>
/// Initializes a new instance of the <see cref="ShapeFactory"/> class.
/// </summary>
public ShapeFactory(
IPolygonTransformationHelper polygonTransformationHelper,
IPolygonCalculationHelper polygonCalculationHelper,
IBodyCalculationHelper bodyCalculationHelper)
{
ArgumentChecks.AssertNotNull(polygonTransformationHelper, nameof(polygonTransformationHelper));
ArgumentChecks.AssertNotNull(polygonCalculationHelper, nameof(polygonCalculationHelper));
ArgumentChecks.AssertNotNull(bodyCalculationHelper, nameof(bodyCalculationHelper));
this._polygonTransformationHelper = polygonTransformationHelper;
this._polygonCalculationHelper = polygonCalculationHelper;
this._bodyCalculationHelper = bodyCalculationHelper;
}
/// <summary>
/// Initializes a new instance of the <see cref="ElementFactory"/> class.
/// </summary>
public ElementFactory(
IShapeFactory shapeFactory,
IBodyCalculationHelper bodyCalculationHelper,
IIsaacNewtonHelper isaacNewtonHelper)
{
ArgumentChecks.AssertNotNull(shapeFactory, nameof(shapeFactory));
ArgumentChecks.AssertNotNull(bodyCalculationHelper, nameof(bodyCalculationHelper));
ArgumentChecks.AssertNotNull(isaacNewtonHelper, nameof(isaacNewtonHelper));
this._shapeFactory = shapeFactory;
this._bodyCalculationHelper = bodyCalculationHelper;
this._isaacNewtonHelper = isaacNewtonHelper;
}
/// <summary>
/// Initializes a new instance of the <see cref="RigidPolygonShape"/> class.
/// </summary>
public RigidPolygonShape(
IPolygonTransformationHelper polygonTransformationHelper,
IBodyCalculationHelper bodyCalculationHelper,
double volume,
Polygon originalPolygon)
{
ArgumentChecks.AssertNotNull(polygonTransformationHelper, nameof(polygonTransformationHelper));
ArgumentChecks.AssertNotNull(bodyCalculationHelper, nameof(bodyCalculationHelper));
ArgumentChecks.AssertIsStrictPositive(volume, nameof(volume));
ArgumentChecks.AssertNotNull(originalPolygon, nameof(originalPolygon));
this._polygonTransformationHelper = polygonTransformationHelper;
this._bodyCalculationHelper = bodyCalculationHelper;
this.Volume = volume;
this.Original = originalPolygon;
this.Current = this.Original;
}
